Control system



1954 w. SCHAELCHLIN ETAL 6,

CONTROL SYSTEM Original Filed Nov. 21, 1946 3 Sheets-Sheet 2 BY MawATTORNEY Jan. 19, 1954 w. SCHAELCHLIN ETAL 2,666,

CONTROL SYSTEM Original Filed Nov. 21, 1946 3 Sheets-Sheet 5 ATTORNEYPatented Jan. 19, 1954 CONTROL SYSTEM Walter Schaelchlin, Bufialo, andAmos J. Winchester, Jr., Lockport, N. Y., and John C. Ponstingl, Parma,Ohio, assignors, by mesne assignments, to the United States of Americaas represented by the Secretary of the Navy Original applicationNovember 21, 1946, Serial No. 711,428, now Patent No. 2,551,972, datedMay 8, 1951. Divided and this application April 28, 1950, Serial No.158,832

4 Claims.

This invention relates to a remote control system and, moreparticularly, to a system for controlling the operation of a ship or thelike from a remote point.

This application is a division of applicants cpending application SerialNo. 711,428, filed November 21, 1946, Patent No. 2,551,972, issued May8, 1951, entitled Control System and assigned to the assignee of thisinvention.

In the operation of ships, particularly in the case where it is desiredto load the ship with explosives and use the ship in a demolitionoperation, it is desirable to control all operations of the ship from aremote point. This problem is rendered difiicult by reason of thenumerous operations to be controlled in order that the ship may bedirected to the desired point for the explosion. It is necessary toprovide means for controlling the clutching and throttling of the powermechanism for propelling the ship and also to control the steeringmechanism of the ship. In addition to such prime operations, it isnecessary to provide means for controlling other operations, such as thearming and firing of the explosive which is carried by the ship beingused in the demolition operation.

Accordingly, one of the principal objects of this invention is toprovide apparatus by which the operation of a ship may be efiectivelycontrolled from a remote point. To this end, this invention contemplatesthe provision of radio transmitting apparatus adapted to be located at apoint remote from the ship being controlled, and radio receivingapparatus adapted to be located on the ship being controlled, togetherwith a novel form of control mechanism 'for controlling the operation ofboth the transmitting and receiving apparatus, whereby the numerousoperations incidental to remotely controlling the ship may be affected.The radio apparatus employed is preferably of the pulse type having aplurality of channels respectively adapted to deal with pulses of radioenergy of different frequencies. The control mechanism is arranged sothat two or more channels may be operated at one time, no combination ofchannels being the same, in order that a number of operations, greaterthan the number of radio channels provided, may be controlled.

The above and other objects of this invention will become apparentduring the course of the following description.

In the drawings there is shown a preferred embodiment of the invention.In this showing:

Figure 1 is a plan view of a control station from which the variousoperations necessary for controlling the operation of one or more shipsmay be initiated,

Fig. 2 is a plan view of a transfer station, which is employed when twocontrol stations such as illustrated in Fig. 1 are used, and forindicating the various operations on board ship which have beenperformed,

Fig. 3 is a schematic diagram illustrating a simplified form oftransmitter control, particularly adapted for use where the remotecontrol is air-borne,

Fig. 4 is a chart designating the elements shown in big. 3 andsubsequent figures which are employed for effecting certain operations,

Fig. 5 is a partial view similar to Fig. 3 of a preferred form oftransmitter control for use with control and transfer stations asillustrated in Figs. 1 and 2.

Referring to the Figs. 3 and 5 of the drawings, the letter A designatesa radio transmitter which is employed for remotely controlling thedesired operations. The transmitter A is provided with ten operatingchannels, numbered 1 through 10, which are respectively adapted to sendout pulses of radio energy on different frequencies. In Fig. 6 of thePatent No. 2,551,972, issued May 8, 1951, the letter B designates radioreceiving apparatus which is provided with ten tuned receiving channelsrespectively tuned to the frequency of the transmitting channels of thetransmitter A. The construction and operation of the transmitters A andreceivers B form no part. per se, of this invention, any transmitter andreceiver known in the art and having ten separate channels beingemployable for the purpose of this invention. The showings of Figs. 3and 5 illustrate the manner in which the transmitting apparatus iscontrolled. For an understanding of the operation of the transmitter, itwill be sufficient to point out that at any time one of the leads to thevarious chan-- nels is connected to ground, such channel will operate totransmit radio energy at its predetermined frequency. Since more thanten control operations must be provided, it is necessary that' certainof the channels be caused to operate simultaneously in combination. Themanner in which the ten channels are operated to perform a greaternumber of operations will become apparent dur-.

ing the course of the following description.

Three of the channels (I, 2 and 10) are employed and set aside ascontrol channels.

ferring to Fig. 3, it will be seen that channel It is connected toground by means of a switch ll under the control of a cam I2 operated bya timer motor l3. The timer motor 13 through a suitable drive (notshown) is adapted to rotate the cam 12, one revolution every threeminutes. Accordingly, every three minutes, the cam it will operate toclose the switch H and thus cause channel lfito emit a pulse of radioenergy. Upon failure of the channel it to send out a periodic timingpulse, or of the receiver channel 10 to receive such apulse, theapparatus will. operate to move the ships throttle to its idlingposition and de-clutch the shipsdl'i l l iirisitois.in a.

manner to be described. 7

Channels 1 and 2 are employed asdrone selector channels for the purposeof enabling the control apparatus to operate a selected one of twoships. The channels l and Bare conneetedto ground and caused to transmitradio energy on their respective frequencies through a drone se= lectorswitch M and a security switch 15. In a manner which will becomeapparent, 912???? tion performed on boapd ship must be accom By the useof the drone selector channels I and'2 in combination with the remainingchannels 3 through 9, it is possible for one control station to operatetwo different ships, and the p$sibility of the control apparatus beingjammed by enemy transmitters is rendered difficult.

A manually operabl dial It; is provided for settingup the controlapparatus in accordance with the operation to be performed aboard ship.Rotation of the dial is to the various operations indicated rotates ashaft which varies the position of cams and switches operated-thereby,designated S3 through S9, which respectively control the transmittingoperation of channels 4; through 9. In the showing of Fig. '3, the dialto designates left course and in this position the cam S3 has opera-tedto close its associated switch so that transmitter channel 3 will beconnected to ground upon closure of the security switch 15. Uponmovement of the dial, one step to right course, 54 will close tosimilarly connect channel 4 to ground. For channel 3 or 4 to operate tovary the course of the ship to left or right, the ship drone selectorchannel-I or 2 must be operated at the same time as will become apparentlater. Channels 3 and 4 are the only channels which are operated singlyin combination with either of channels [or 2. The remainder of thechannels 5 through 9 under the control of cam switches S5 through 53 areoperated two at one time. For example, in arming the explosive which ison board ship, the channels 5 and Bare connected to ground thro gh thecam operated switches S5 and S6 upon operation of the security switch15. The chart in Fig. 4 may be referred to under the column entitled,Selector Switches, and the column entitled, Radio Channel Used, todetermine which of the channels are employed in the various operationsas pointed out above. Accordingly, Fig. 4 maybe employed to determinethe specifio circuits set up for each of the numerous operations listedwhich are to be per.- formed aboard ship.

The control appaar-tus shown in Fig. 3 is a simplified form of controlwhere it is desired to effect control from an air-borne station anddecreased weight of the apparatus is an essential consideration. Whenusing this form of apparatus, the transfer switch and mechanism forindicating the operation performed shown in'Fig. 2"are not used. Theoperator will merely turn the dial IE to the operation desired and pressthe security button to initiate performanc of such operation. Anordinary telephone dial switch 18 is provided where the course of theship is to be changed. For example, if it is desired to changethe'course of the ship 8 to the left, the dial I6 is placed on leftcourse and the dial I8 is rotated 8 notches with the security button 15held in its closed position. This will open and close the switch isbetweenthe connection of channel 3 to the transmitter and ground eighttimes. There thus will be eight pulses of energy sent out over channel 3and-the steering mechanism will be moved eight steps in the appropriatedirection to change the course of the ship.

Referring to Fig. 1, it will be noted that a removable stop i9 isprovided for cooperation with the dial it. The stop [9 is provided forthe purpose of preventing accidental movement of the switch [6, into thepositions of arming, scuttling, or firing during such time as the shipis being maneuvered into the position where such operations are to beperformed.

The schematic showing of Fig. 5 illustrates the preferred form ofcontrol apparatu and this arrangement shows how the controls illustratedin Figs. 1 and 2 are tied together. This apparatus embodies the sameelements illustrated in Fig. 3 and the description in connection withFig. 3 applies equally well to the apparatus shown in Fig. '5. Theapparatus shown in Fig. 5 differs from that shown in Fig; 3 by reason ofthe inclusion of the transfer switch 20 and the indicating devices shownin Figs. 1 and 2. The transfer switch 2i) is a two-position switch whichadapted to selectively connect the transmitter channels I through ii] toeither of two control stations of the type illustrated in Fig. 1. Byreason of thi switch, only one control station may be used to operatethe transmitter channels at one time, thus a plurality of memorydevices, as

shown in Fig. 2 will be operated by only one control station. Thetransfer switch 20 of Fig. 2 thus cooperates with the drone selectionswitch it of F g 1 and enables, t e oon l s of eithe two separate dronesor a single drone from two control stations and a single transmitter.

.I onco n with t howing f F 5. it t e u d t od th here is ll a ed on a Pt n o the comp ete appa atu o tho roforred emb d ment- S noo th Pref dbodiment embodies two control stations, it will e pparent that p r ion ot e apparatus omitted f om th snowing r s 5 s identical with the ontrolevic at t e r ht of such fieu T preferred mbo ment als empl ys two trnsmi A. and her contro s ation p ated wil ofloot s mult ne s pe ion o icha nel in the two transmit ers Th use of two t m tter p ov de a s fetym asure n the nt o a lurev o one of th ch nnels to ransmit radio onersy-O viou nly one nsmitter n ed be mp oyed in the e n th t he ecaut on rfoaturo provided y o. ron i tors is not de ired.-

In order that an indication may be had of the arious. operat ons. a plulity of soleno d on rodfuidioo ine dev es, 21 through 28. are pr iolocl-A co tro switch 25 s connec ed to the a shaft l? for rotation tluiro iil.-v on 1love ment of the contact arm of the switch 29 to a positionconnecting with one of the stationary contacts of the leads from theoperating coils of the solenoid operated indicators 2! through 28, acircuit is set-up which is completed upon operation of security switch[5. For example, upon movement of the dial l6 ninety de-- grees in acounterclockwise direction from the position shown in Fig. 5, theapparatus will be set up for the operation entitled Buoy Drop. In thisposition, control switches S5 and S9 will be operated and channels 5 and9 will be rendered operative upon closure of the security switch l5,connecting such channels to ground. At the same time, a circuit will becompleted from the positive side of the battery through the coil of thesolenoid operated indicator 2| and switch 29 to ground. Thus, there willbe an indication had at the control transfer station of Fig. 2 that theoperation entitled, Buoy Drop, aboard the ship being controlled has beeninitiated. In the same manner, the solenoid operated indicators 22through 26 function to perform their respective indications for thevarious positions of the dial control switch [6.

In the showing of Fig. 5, it will be noted that the security switch [5is not operable to connect the channels directly to ground as is thecase of the security switch l5 of Fig. 3. This function is performed bya control relay CR which has its upper terminal connected to thepositive side of the battery and its lower terminal connected throughthe reset switch 3| to the security switch l5. Upon closure of thesecurity switch 55 in this case, a circuit to ground will be completedthrough the relay CR which will pick up and close the contactor 32. Uponenergization of the relay CR and closure of the contactor 32, channels 5through 9 and channels I and 2 may be connected to ground.

Another difference in the showing of Fig. 5 is the employment of relayCR3 and CR4 for controlling the connection of channels 3 and 4 toground. In the position shown, the control S3 is closed and upon closureof the security switch i5, relay CR3 will be energized and its lowercontact will close to connect channel 3 to ground. At the same time, theupper contact of relay CR3 will close to complete a circuit to groundthrough the coil of solenoid 33. When solenoid 33 is energized, it willmove a ratchet wheel 34 one notch in a clockwise direction. The ratchetwheel 34 carries an indicating device 36 shown in Fig. 1 which iscalibrated in degrees from 0 to 360'. Each time the solenoid 33 isoperated, the course setting will be changed one degree and this changewill be indicated on the dial 36 of the remote control station. Thecontrol relay CR4 operates in a like manner to energize the solenoid 35and operate the ratchet wheel 34 in a counterclockwise direction forchanges in right course. For each pulse over channels 3 or 4, theindicating device 36 will be operated 1 according to the direction inwhich change of course of the ship being controlled.

In order that speed and setting of the control lever may be indicated,the remote control station is provided with a speed setting dial 3'!which is operated by a ratchet wheel 38. To actuate the ratchet wheel,solenoids 39 and 40 are provided and cam operated control switches S andS are mounted on the shaft H. In the event that the dial it is moved tothe increase speed position, control switches S, S6. and S8 will beclosed as indicated by reference to the chart of Fig. 4. The controls S6and 88 function to operate channels 6 and 8 upon closure of the securityswitch I5, as set forth above. When the security switch is closed, acircuit will be completed through the coil of solenoid 40 and ratchetwheel 38 will be moved one notch in a clockwise direction. This changein speed setting will be indicated by the dial 3'! carried by theratchet wheel 38. The solenoid 39 is operated in a similar manner toindicate decreases in the speed setting. The throttle control lever ismoved from idling to full open position, step by step, and this movementis preferably accomplished in ten steps. Suitable stops (not shown) maybe provided to prevent movement of the ratchet wheel beyond the pointsindicated by extreme positions of the throttle lever.

The operation of the transmitter portion of the control apparatus willbe apparent from the foregoing, it beingsufiicient to point out that thedesired operation can be effected by turning the dial switch 16 to theposition indicated for such operation and then operating the securityswitch [3. By referring to the chart of Fig. 4,

V the controls operated in the transmitter channels employed foreffecting the operation can be readily ascertained.

The operation of the receiver portion of this apparatus is described inPatent No. 2,551,972, issued May 8, 195

Since certain changes may be made in the above construction anddifferent embodiments of the invention may be made without departingfrom the scope thereof, it is intended that all the matter contained inthe above description or shown in the accompanying drawings, shall beinterpreted as illustrative and not in a limiting sense.

We claim as our invention:

1. In a radio control system for the remote operation of a ship or thelike having multiple operations to be performed thereon, a radiotransmitter having a plurality of transmitting channels including atleast two master control channels and a timing signal channel, each ofsaid channels being operative to transmit a distinctive control signal,a timing means operative to periodically energize said timing channelwhereby a distinctive and regularly occurring timing signal is produced,means for selecting diiferent combinations of said transmitting channelsfor simultaneous operation thereof including a master selector switchand a first series of switches interposed in the circuits of saidtransmitting channels, a single operating member movable to diiferentpositions for actuating selected combinations of said first series ofswitches, relay means responsive to the energization Of said switchesand operative to render selected transmitting channels operative, dialmeans in the circuit of a pair of said transmitting channels wherebydistinctive control signals may be periodically and selectivelyproduced, a second series of switches, an operating lever for saidsecond series of switches mechanically linked to said single operatingmember and operable to selectively energize said second series ofswitches, individual electromagnetic indicating means in the circuit ofeach of said second series of switches and a portion of said relaymeans, said indicating means being operative to indicate the particulartransmitting channels energized at any one time.

2. In a radio control system for the remote operation of a ship or thelike having multiple op- 7': erations to be performedjthe'reon, a.radio-transimitter having aplurality of transmitting channels includingat least two master control chan nels, each of said channels beingoperative to transmit a distinctive control signal, meansfor selectingdifferent combinations of said transmitting channels for simultaneousoperation thereof including a master selection switch and a first seriesof switches interposed in the circuits of said transmitting. channels, asingle operating member movable to difierent positions for actuatingselected combinations of said first series of switches, relay meansresponsive to the energization of said switches and operative torenderselected transmitting channels operative,- dial means in the circuit ofa pair of said trans mitting channels whereby distinctive controlsignals may be periodically and selectively produced, a second series ofswitches, an operating lever for said second series of switches mechanically linked to said operating member and operable to selectivelyenergize said second series of switches, individual electromagneticindicating means in the circuit of each of said second series ofswitches and in series with aportion of said relay means, saidindicating means being operative to indicate the particular transmittingchannels energized.

3. In a radio control system for the remote operation of a ship or thelike having multiple operations to be performed thereon, a radiotransmitter having a plurality of transmitting chan nels including atleast two master control channels and a timing signal channel, each ofsaid channels being operative to transmit a distinctive control signal,a timing means operative to periodically energize said timing. channelwhereby a distinctive and regularly occurring timing signal is produced,means for selecting different combinations of said transmitting channelsfor simultaneous operation thereof including a master selector switchand. a series of control switches interposed in the circuits of saidtransmitting channels, a single operating member movable to differentpositions for actuating se lected combinations of said control switches,relay means responsive to the'energization of said switches andoperative to render selected transmitting channels operative, and dialmeans in the circuit of a pair of said transmitting channels wherebydistinctive control signals may be periodically and selectivelyproduced.

4. In audio control system for the remote operation of a ship or thelike having multiple operations to be performed thereon, a radiotransmitter having a plurality of transmitting channels including atleast two master control channels and a timing signal channel, each ofsaid channels being operative to transmit a distinctive control signal,a timing-means operative to periodically energize said timing channelwhere by a distinctive and regularly occurring timing signal isproduced, means. for selecting difierent combinations of saidtransmitting channels for simultaneous operation thereof including amaster selector switch and a series of control switches interposed inthe circuits of said transmitting channels, a single operating membermovable to different positions for actuating selected combinations ofsaid series of control switches, a first relay means responsive to theenergization of said switches and operative to render selectedtransmitting channels operative, and individual indicating meansrendered operative by a second relay means responsive to a second seriesof switches for indicating the particular transmitting channelsenergized.

VV'ALTER SCHAELCHLIN. AMOS J. WINCHESTER, JR. JOHN C. PONSTINGL.

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